The origin repository: https://github.com/reiniscimurs/DRL-Robot-Navigation-ROS2.git
to generate world
python world_generation.py
to start training
./start.sh
start tensorboard
tensorboard --logdir runs
to see the process of training change the gui = LaunchConfiguration('gui', default='True').perform(context) in src/robot_gazebo/launch/worlds.launch.py to
gui = LaunchConfiguration('gui', default='False').perform(context)
To cite our paper
@misc{xiong2025nonholonomicnarrowdeadendescape,
title={Nonholonomic Narrow Dead-End Escape with Deep Reinforcement Learning},
author={Denghan Xiong and Yanzhe Zhao and Yutong Chen and Zichun Wang},
year={2025},
eprint={2511.22338},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2511.22338},
}